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autoware_localization_error_monitor#

Purpose#

autoware_localization_error_monitor is a package for diagnosing localization errors by monitoring uncertainty of the localization results. The package monitors the following two values:

  • size of long radius of confidence ellipse
  • size of confidence ellipse along lateral direction (body-frame)

Inputs / Outputs#

Input#

Name Type Description
input/odom nav_msgs::msg::Odometry localization result

Output#

Name Type Description
debug/ellipse_marker visualization_msgs::msg::Marker ellipse marker
diagnostics diagnostic_msgs::msg::DiagnosticArray diagnostics outputs

Parameters#

Name Type Description Default Range
scale float scale factor for monitored values 3 N/A
error_ellipse_size float error threshold for long radius of confidence ellipse [m] 1.5 N/A
warn_ellipse_size float warning threshold for long radius of confidence ellipse [m] 1.2 N/A
error_ellipse_size_lateral_direction float error threshold for size of confidence ellipse along lateral direction [m] 0.3 N/A
warn_ellipse_size_lateral_direction float warning threshold for size of confidence ellipse along lateral direction [m] 0.25 N/A